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<h1>mdl_twolink_mdh</h1><p><span class="helptopic">Create model of a simple 2-link mechanism with modified DH convention</span></p><pre style="width: 90%%;" class="examples">
mdl_twolink_mdh
</pre>
<p>
Script creates the workspace variable tl which describes the
kinematic and dynamic characteristics of a simple planar 2-link mechanism
using modified Denavit-Hartenberg conventions.

</p>
<p>
Also defines the vector:

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  <tr><td style="white-space: nowrap;" class="col1"> qz</td> <td>corresponds to the zero joint angle configuration.</td></tr>
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<h2>Notes</h2>
<ul>
  <li>It is a planar mechanism operating in the XY (horizontal) plane</li>
</ul>
<h2>References</h2>
<ul>
  <li>Based on Fig 3.8 (p71) of Craig (3rd edition).</li>
</ul>
<h2>See also</h2>
<p>
<a href="SerialLink.html">SerialLink</a>, <a href="mdl_twolink.html">mdl_twolink</a></p>
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